OpenRaiser/Intern-Atlas huggingface dataset:
Adaptive Robust Kernels for Non-Linear Least Squares Problems
Venue: arXiv cs.RO 2021
Year: 2021

State estimation is a key ingredient in most robotic systems. Often, state estimation is performed using some form of least squares minimization. Basically, all error minimization procedures that work on real-world data use robust kernels as the standard way for dealing with outliers in the data. These kernels, however, are often hand-picked, sometimes in different combinations, and their parameters need to be tuned manually for a particular problem. In this paper, we propose the use of a generalized robust kernel family, which is automatically tuned based on the distribution of the residuals and includes the common m-estimators. We tested our adaptive kernel with two popular estimation problems in robotics, namely ICP and bundle adjustment. The experiments presented in this paper suggest that our approach provides higher robustness while avoiding a manual tuning of the kernel parameters.
Improving Factual Consistency Between a Response and Persona Facts
Venue: arXiv cs.CL 2021
Year: 2021

Neural models for response generation produce responses that are semantically plausible but not necessarily factually consistent with facts describing the speaker's persona. These models are trained with fully supervised learning where the objective function barely captures factual consistency. We propose to fine-tune these models by reinforcement learning and an efficient reward function that explicitly captures the consistency between a response and persona facts as well as semantic plausibility. Our automatic and human evaluations on the PersonaChat corpus confirm that our approach increases the rate of responses that are factually consistent with persona facts over its supervised counterpart while retaining the language quality of responses.
Progressively Pretrained Dense Corpus Index for Open-Domain Question Answering
Venue: arXiv cs.CL 2021
Year: 2021

To extract answers from a large corpus, open-domain question answering (QA) systems usually rely on information retrieval (IR) techniques to narrow the search space. Standard inverted index methods such as TF-IDF are commonly used as thanks to their efficiency. However, their retrieval performance is limited as they simply use shallow and sparse lexical features. To break the IR bottleneck, recent studies show that stronger retrieval performance can be achieved by pretraining a effective paragraph encoder that index paragraphs into dense vectors. Once trained, the corpus can be pre-encoded into low-dimensional vectors and stored within an index structure where the retrieval can be efficiently implemented as maximum inner product search. Despite the promising results, pretraining such a dense index is expensive and often requires a very large batch size. In this work, we propose a simple and resource-efficient method to pretrain the paragraph encoder. First, instead of using heuristically created pseudo question-paragraph pairs for pretraining, we utilize an existing pretrained sequence-to-sequence model to build a strong question generator that creates high-quality pretraining data. Second, we propose a progressive pretraining algorithm to ensure the existence of effective negative samples in each batch. Across three datasets, our method outperforms an existing dense retrieval method that uses 7 times more computational resources for pretraining.
Designing Robust API Monitoring Solutions
Venue: arXiv cs.CR 2021
Year: 2021

Tracing the sequence of library and system calls that a program makes is very helpful in the characterization of its interactions with the surrounding environment and ultimately of its semantics. Due to entanglements of real-world software stacks, accomplishing this task can be surprisingly challenging as we take accuracy, reliability, and transparency into the equation. To manage these dimensions effectively, we identify six challenges that API monitoring solutions should overcome and outline actionable design points for them, reporting insights from our experience in building API tracers for software security research. We detail two implementation variants, based on hardware-assisted virtualization (realizing the first general-purpose user-space tracer of this kind) and on dynamic binary translation, that achieve API monitoring robustly. We share our SNIPER system as open source.
Bayesian Entailment Hypothesis: How Brains Implement Monotonic and Non-monotonic Reasoning
Venue: arXiv cs.AI 2021
Year: 2021

Recent success of Bayesian methods in neuroscience and artificial intelligence gives rise to the hypothesis that the brain is a Bayesian machine. Since logic, as the laws of thought, is a product and practice of the human brain, it leads to another hypothesis that there is a Bayesian algorithm and data-structure for logical reasoning. In this paper, we give a Bayesian account of entailment and characterize its abstract inferential properties. The Bayesian entailment is shown to be a monotonic consequence relation in an extreme case. In general, it is a sort of non-monotonic consequence relation without Cautious monotony or Cut. The preferential entailment, which is a representative non-monotonic consequence relation, is shown to be maximum a posteriori entailment, which is an approximation of the Bayesian entailment. We finally discuss merits of our proposals in terms of encoding preferences on defaults, handling change and contradiction, and modeling human entailment.
A Concise yet Effective model for Non-Aligned Incomplete Multi-view and Missing Multi-label Learning
Venue: arXiv cs.LG 2021
Year: 2021

In reality, learning from multi-view multi-label data inevitably confronts three challenges: missing labels, incomplete views, and non-aligned views. Existing methods mainly concern the first two and commonly need multiple assumptions to attack them, making even state-of-the-arts involve at least two explicit hyper-parameters such that model selection is quite difficult. More roughly, they will fail in handling the third challenge, let alone addressing the three jointly. In this paper, we aim at meeting these under the least assumption by building a concise yet effective model with just one hyper-parameter. To ease insufficiency of available labels, we exploit not only the consensus of multiple views but also the global and local structures hidden among multiple labels. Specifically, we introduce an indicator matrix to tackle the first two challenges in a regression form while aligning the same individual labels and all labels of different views in a common label space to battle the third challenge. In aligning, we characterize the global and local structures of multiple labels to be high-rank and low-rank, respectively. Subsequently, an efficient algorithm with linear time complexity in the number of samples is established. Finally, even without view-alignment, our method substantially outperforms state-of-the-arts with view-alignment on five real datasets.
Simplifying Paragraph-level Question Generation via Transformer Language Models
Venue: arXiv cs.CL 2021
Year: 2021

Question generation (QG) is a natural language generation task where a model is trained to ask questions corresponding to some input text. Most recent approaches frame QG as a sequence-to-sequence problem and rely on additional features and mechanisms to increase performance; however, these often increase model complexity, and can rely on auxiliary data unavailable in practical use. A single Transformer-based unidirectional language model leveraging transfer learning can be used to produce high quality questions while disposing of additional task-specific complexity. Our QG model, finetuned from GPT-2 Small, outperforms several paragraph-level QG baselines on the SQuAD dataset by 0.95 METEOR points. Human evaluators rated questions as easy to answer, relevant to their context paragraph, and corresponding well to natural human speech. Also introduced is a new set of baseline scores on the RACE dataset, which has not previously been used for QG tasks. Further experimentation with varying model capacities and datasets with non-identification type questions is recommended in order to further verify the robustness of pretrained Transformer-based LMs as question generators.
A Soft Robotic Cover with Dual Thermal Display and Sensing Capabilities
Venue: arXiv cs.HC 2021
Year: 2021

We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part of the touch pleasantness. The robotic cover surface can be regulated to the desired temperature by circulating water through a thermally conductive pipe embedded in the cover, of which temperature is controlled. Besides, an observer for estimating heat from human contact is implemented; it can detect human interaction while displaying the desired temperature without temperature sensing on the surface directly. We assessed the validity of the prototype in experiments of temperature control and contact detection by human hand.
When Machine Unlearning Jeopardizes Privacy
Venue: arXiv cs.CR 2021
Year: 2021

The right to be forgotten states that a data owner has the right to erase their data from an entity storing it. In the context of machine learning (ML), the right to be forgotten requires an ML model owner to remove the data owner's data from the training set used to build the ML model, a process known as machine unlearning. While originally designed to protect the privacy of the data owner, we argue that machine unlearning may leave some imprint of the data in the ML model and thus create unintended privacy risks. In this paper, we perform the first study on investigating the unintended information leakage caused by machine unlearning. We propose a novel membership inference attack that leverages the different outputs of an ML model's two versions to infer whether a target sample is part of the training set of the original model but out of the training set of the corresponding unlearned model. Our experiments demonstrate that the proposed membership inference attack achieves strong performance. More importantly, we show that our attack in multiple cases outperforms the classical membership inference attack on the original ML model, which indicates that machine unlearning can have counterproductive effects on privacy. We notice that the privacy degradation is especially significant for well-generalized ML models where classical membership inference does not perform well. We further investigate four mechanisms to mitigate the newly discovered privacy risks and show that releasing the predicted label only, temperature scaling, and differential privacy are effective. We believe that our results can help improve privacy protection in practical implementations of machine unlearning. Our code is available at https://github.com/MinChen00/UnlearningLeaks.
Sub-Image Anomaly Detection with Deep Pyramid Correspondences
Venue: arXiv cs.CV 2021
Year: 2021

Nearest neighbor (kNN) methods utilizing deep pre-trained features exhibit very strong anomaly detection performance when applied to entire images. A limitation of kNN methods is the lack of segmentation map describing where the anomaly lies inside the image. In this work we present a novel anomaly segmentation approach based on alignment between an anomalous image and a constant number of the similar normal images. Our method, Semantic Pyramid Anomaly Detection (SPADE) uses correspondences based on a multi-resolution feature pyramid. SPADE is shown to achieve state-of-the-art performance on unsupervised anomaly detection and localization while requiring virtually no training time.
Noisy Differentiable Architecture Search
Venue: arXiv cs.LG 2021
Year: 2021

Simplicity is the ultimate sophistication. Differentiable Architecture Search (DARTS) has now become one of the mainstream paradigms of neural architecture search. However, it largely suffers from the well-known performance collapse issue due to the aggregation of skip connections. It is thought to have overly benefited from the residual structure which accelerates the information flow. To weaken this impact, we propose to inject unbiased random noise to impede the flow. We name this novel approach NoisyDARTS. In effect, a network optimizer should perceive this difficulty at each training step and refrain from overshooting, especially on skip connections. In the long run, since we add no bias to the gradient in terms of expectation, it is still likely to converge to the right solution area. We also prove that the injected noise plays a role in smoothing the loss landscape, which makes the optimization easier. Our method features extreme simplicity and acts as a new strong baseline. We perform extensive experiments across various search spaces, datasets, and tasks, where we robustly achieve state-of-the-art results. Our code is available at https://github.com/xiaomi-automl/NoisyDARTS.
Enhancing Geometric Factors in Model Learning and Inference for Object Detection and Instance Segmentation
Venue: arXiv cs.CV 2021
Year: 2021

Deep learning-based object detection and instance segmentation have achieved unprecedented progress. In this paper, we propose Complete-IoU (CIoU) loss and Cluster-NMS for enhancing geometric factors in both bounding box regression and Non-Maximum Suppression (NMS), leading to notable gains of average precision (AP) and average recall (AR), without the sacrifice of inference efficiency. In particular, we consider three geometric factors, i.e., overlap area, normalized central point distance and aspect ratio, which are crucial for measuring bounding box regression in object detection and instance segmentation. The three geometric factors are then incorporated into CIoU loss for better distinguishing difficult regression cases. The training of deep models using CIoU loss results in consistent AP and AR improvements in comparison to widely adopted $\ell_n$-norm loss and IoU-based loss. Furthermore, we propose Cluster-NMS, where NMS during inference is done by implicitly clustering detected boxes and usually requires less iterations. Cluster-NMS is very efficient due to its pure GPU implementation, and geometric factors can be incorporated to improve both AP and AR. In the experiments, CIoU loss and Cluster-NMS have been applied to state-of-the-art instance segmentation (e.g., YOLACT and BlendMask-RT), and object detection (e.g., YOLO v3, SSD and Faster R-CNN) models. Taking YOLACT on MS COCO as an example, our method achieves performance gains as +1.7 AP and +6.2 AR$_{100}$ for object detection, and +0.9 AP and +3.5 AR$_{100}$ for instance segmentation, with 27.1 FPS on one NVIDIA GTX 1080Ti GPU. All the source code and trained models are available at https://github.com/Zzh-tju/CIoU
RetinaFaceMask: A Single Stage Face Mask Detector for Assisting Control of the COVID-19 Pandemic
Venue: arXiv cs.CV 2021
Year: 2021

Coronavirus 2019 has made a significant impact on the world. One effective strategy to prevent infection for people is to wear masks in public places. Certain public service providers require clients to use their services only if they properly wear masks. There are, however, only a few research studies on automatic face mask detection. In this paper, we proposed RetinaFaceMask, the first high-performance single stage face mask detector. First, to solve the issue that existing studies did not distinguish between correct and incorrect mask wearing states, we established a new dataset containing these annotations. Second, we proposed a context attention module to focus on learning discriminated features associated with face mask wearing states. Third, we transferred the knowledge from the face detection task, inspired by how humans improve their ability via learning from similar tasks. Ablation studies showed the advantages of the proposed model. Experimental findings on both the public and new datasets demonstrated the state-of-the-art performance of our model.
Unified Models of Human Behavioral Agents in Bandits, Contextual Bandits and RL
Venue: arXiv cs.AI 2021
Year: 2021

Artificial behavioral agents are often evaluated based on their consistent behaviors and performance to take sequential actions in an environment to maximize some notion of cumulative reward. However, human decision making in real life usually involves different strategies and behavioral trajectories that lead to the same empirical outcome. Motivated by clinical literature of a wide range of neurological and psychiatric disorders, we propose here a more general and flexible parametric framework for sequential decision making that involves a two-stream reward processing mechanism. We demonstrated that this framework is flexible and unified enough to incorporate a family of problems spanning multi-armed bandits (MAB), contextual bandits (CB) and reinforcement learning (RL), which decompose the sequential decision making process in different levels. Inspired by the known reward processing abnormalities of many mental disorders, our clinically-inspired agents demonstrated interesting behavioral trajectories and comparable performance on simulated tasks with particular reward distributions, a real-world dataset capturing human decision-making in gambling tasks, and the PacMan game across different reward stationarities in a lifelong learning setting.
A new method for solving the elliptic curve discrete logarithm problem
Venue: arXiv cs.CR 2021
Year: 2021

The elliptic curve discrete logarithm problem is considered a secure cryptographic primitive. The purpose of this paper is to propose a paradigm shift in attacking the elliptic curve discrete logarithm problem. In this paper, we will argue that initial minors are a viable way to solve this problem. This paper will present necessary algorithms for this attack. We have written a code to verify the conjecture of initial minors using Schur complements. We were able to solve the problem for groups of order up to $2^{50}$.
Provably insecure group authentication: Not all security proofs are what they claim to be
Venue: arXiv cs.CR 2021
Year: 2021

A paper presented at the ICICS 2019 conference describes what is claimed to be a `provably secure group authentication [protocol] in the asynchronous communication model'. We show here that this is far from being the case, as the protocol is subject to serious attacks. To try to explain this troubling case, an earlier (2013) scheme on which the ICICS 2019 protocol is based was also examined and found to possess even more severe flaws - this latter scheme was previously known to be subject to attack, but not in quite as fundamental a way as is shown here. Examination of the security theorems provided in both the 2013 and 2019 papers reveals that in neither case are they exactly what they seem to be at first sight; the issues raised by this are also briefly discussed.
How Does COVID-19 impact Students with Disabilities/Health Concerns?
Venue: arXiv cs.HC 2021
Year: 2021

The impact of COVID-19 on students has been enormous, with an increase in worries about fiscal and physical health, a rapid shift to online learning, and increased isolation. In addition to these changes, students with disabilities/health concerns may face accessibility problems with online learning or communication tools, and their stress may be compounded by additional risks such as financial stress or pre-existing conditions. To our knowledge, no one has looked specifically at the impact of COVID-19 on students with disabilities/health concerns. In this paper, we present data from a survey of 147 students with and without disabilities collected in late March to early April of 2020 to assess the impact of COVID-19 on these students' education and mental health. Our findings show that students with disabilities/health concerns were more concerned about classes going online than their peers without disabilities. In addition, students with disabilities/health concerns also reported that they have experienced more COVID-19 related adversities compared to their peers without disabilities/health concerns. We argue that students with disabilities/health concerns in higher education need confidence in the accessibility of the online learning tools that are becoming increasingly prevalent in higher education not only because of COVID-19 but also more generally. In addition, educational technologies will be more accessible if they consider the learning context, and are designed to provide a supportive, calm, and connecting learning environment.
DeepFaceLab: Integrated, flexible and extensible face-swapping framework
Venue: arXiv cs.CV 2021
Year: 2021

Deepfake defense not only requires the research of detection but also requires the efforts of generation methods. However, current deepfake methods suffer the effects of obscure workflow and poor performance. To solve this problem, we present DeepFaceLab, the current dominant deepfake framework for face-swapping. It provides the necessary tools as well as an easy-to-use way to conduct high-quality face-swapping. It also offers a flexible and loose coupling structure for people who need to strengthen their pipeline with other features without writing complicated boilerplate code. We detail the principles that drive the implementation of DeepFaceLab and introduce its pipeline, through which every aspect of the pipeline can be modified painlessly by users to achieve their customization purpose. It is noteworthy that DeepFaceLab could achieve cinema-quality results with high fidelity. We demonstrate the advantage of our system by comparing our approach with other face-swapping methods.For more information, please visit:https://github.com/iperov/DeepFaceLab/.
Flight Time Prediction for Fuel Loading Decisions with a Deep Learning Approach
Venue: arXiv cs.LG 2021
Year: 2021

Under increasing economic and environmental pressure, airlines are constantly seeking new technologies and optimizing flight operations to reduce fuel consumption. However, the current practice on fuel loading, which has a significant impact on aircraft weight and fuel consumption, has yet to be thoroughly addressed by existing studies. Excess fuel is loaded by dispatchers and (or) pilots to handle fuel consumption uncertainties, primarily caused by flight time uncertainties, which cannot be predicted by current Flight Planning Systems. In this paper, we develop a novel spatial weighted recurrent neural network model to provide better flight time predictions by capturing air traffic information at a national scale based on multiple data sources, including Automatic Dependent Surveillance-Broadcast, Meteorological Aerodrome Reports, and airline records. In this model, a spatial weighted layer is designed to extract spatial dependences among network delay states. Then, a new training procedure associated with the spatial weighted layer is introduced to extract OD-specific spatial weights. Long short-term memory networks are used to extract the temporal behavior patterns of network delay states. Finally, features from delays, weather, and flight schedules are fed into a fully connected neural network to predict the flight time of a particular flight. The proposed model was evaluated using one year of historical data from an airline's real operations. Results show that our model can provide more accurate flight time predictions than baseline methods, especially for flights with extreme delays. We also show that, with the improved flight time prediction, fuel loading can be optimized and resulting in reduced fuel consumption by 0.016%-1.915% without increasing the fuel depletion risk.